Related papers: Extended Pacejka Tire Model for Enhanced Vehicle S…
A Nonlinear Model Predictive Control (NMPC) strategy aimed at controlling a small-scale car model for autonomous racing competitions is presented in this paper. The proposed control strategy is concerned with minimizing the lap time while…
Floating car data of car-following behavior in cities were compared to existing microsimulation models, after their parameters had been calibrated to the experimental data. With these parameter values, additional simulations have been…
Active collision avoidance system plays a crucial role in ensuring the lateral safety of autonomous vehicles, and it is primarily related to path planning and tracking control algorithms. In particular, the direct yaw-moment control (DYC)…
Active filament-like systems propelling along their backbone exist across the scales ranging from motor-driven bio-filaments to worms and robotic chains. In macroscopic active filaments such as chain of robots, in contrast to their…
This paper investigates the stability and stabilization of semilinear single-track vehicle models with distributed tire friction dynamics, modeled as interconnections of ordinary differential equations (ODEs) and hyperbolic partial…
The perturbation theory based on typicality introduced in Ref. [1] and further refined in Refs. [2, 3] provides a powerful tool since it is intended to be applicable to a wide range of scenarios while relying only on a few parameters. Even…
Model-based approaches have become increasingly popular in the domain of automated driving. This includes runtime algorithms, such as Model Predictive Control, as well as formal and simulative approaches for the verification of automated…
The force transmitted from the front tires to the steering rack of a vehicle, called the rack force, plays an important role in the function of electric power steering (EPS) systems. Estimates of rack force can be used by EPS to attenuate…
The advent of automated vehicles operating at SAE levels 4 and 5 poses high fault tolerance demands for all functions contributing to the driving task. At the actuator level, fault-tolerant vehicle motion control, which exploits functional…
The Intelligent Driver Model is studied and several drawbacks with respect to driving simulators are defined. We present two modifications of the IDM. The first one gives any predefined distance to the leading vehicle in a steady state. The…
It has long been recognized that the key to understand kinetic friction force $F_k$ is the analysis of microscopic instabilities that lead to sudden irreversible "pops" of certain degrees of freedom. In this Letter, the nature of such…
This contribution analyzes the widely used and well-known "intelligent driver model (briefly IDM), which is a second order car-following model governed by a system of ordinary differential equations. Although this model was intensively…
Air pollution in cities and the possibilities of reducing this pollution represents one of the most important factors that today's society has to deal with. This paper focuses on a systemic approach to traffic emissions with their relation…
Adaptive control is often used for friction compensation in trajectory tracking tasks because it does not require torque sensors. However, it has some drawbacks: first, the most common certainty-equivalence adaptive control design is based…
Near the limits of adhesion, the forces generated by a tire are nonlinear and intricately coupled. Efficient and accurate modelling in this region could improve safety, especially in emergency situations where high forces are required. To…
Current developments in autonomous off-road driving are steadily increasing performance through higher speeds and more challenging, unstructured environments. However, this operating regime subjects the vehicle to larger inertial effects,…
This communication presents a longitudinal model-free control approach for computing the wheel torque command to be applied on a vehicle. This setting enables us to overcome the problem of unknown vehicle parameters for generating a…
Route Choice Models predict the route choices of travelers traversing an urban area. Most of the route choice models link route characteristics of alternative routes to those chosen by the drivers. The models play an important role in…
This paper proposes a non-linear Model Predictive Contouring Control (MPCC) for obstacle avoidance in automated vehicles driven at the limit of handling. The proposed controller integrates motion planning, path tracking and vehicle…
Improving the accuracy of forecast models for physical systems such as the atmosphere is a crucial ongoing effort. Errors in state estimation for these often highly nonlinear systems has been the primary focus of recent research, but as…